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   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
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<li class="navelem"><a class="el" href="namespacecalico.html">calico</a></li><li class="navelem"><a class="el" href="namespacecalico_1_1sensors.html">sensors</a></li><li class="navelem"><a class="el" href="classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel.html">AccelerometerScaleAndBiasModel</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">calico::sensors::AccelerometerScaleAndBiasModel Class Reference</div>  </div>
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<p><code>#include &lt;<a class="el" href="accelerometer__models_8h_source.html">accelerometer_models.h</a>&gt;</code></p>
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Inheritance diagram for calico::sensors::AccelerometerScaleAndBiasModel:</div>
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<div class="center"><img src="classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel__inherit__graph.png" border="0" usemap="#acalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_inherit__map" alt="Inheritance graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for calico::sensors::AccelerometerScaleAndBiasModel:</div>
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<div class="center"><img src="classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel__coll__graph.png" border="0" usemap="#acalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_coll__map" alt="Collaboration graph"/></div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
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<a class="el" href="classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel.html">AccelerometerScaleAndBiasModel</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel.html">AccelerometerScaleAndBiasModel</a> &amp;)=default</td></tr>
<tr class="separator:ad50da2225a9c7d20ad7428c880e95480"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4450441e0a4554b6045ab7057cb804ab"><td class="memItemLeft" align="right" valign="top"><a id="a4450441e0a4554b6045ab7057cb804ab"></a>
<a class="el" href="namespacecalico_1_1sensors.html#a911841171d662dc3e4bf4b39463a4c42">AccelerometerIntrinsicsModel</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel.html#a4450441e0a4554b6045ab7057cb804ab">GetType</a> () const final</td></tr>
<tr class="memdesc:a4450441e0a4554b6045ab7057cb804ab"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for accelerometer model type. <br /></td></tr>
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<tr class="memitem:a50c755d35e189c9cffb98fc692d8f781"><td class="memItemLeft" align="right" valign="top"><a id="a50c755d35e189c9cffb98fc692d8f781"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel.html#a50c755d35e189c9cffb98fc692d8f781">NumberOfParameters</a> () const final</td></tr>
<tr class="memdesc:a50c755d35e189c9cffb98fc692d8f781"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for the number of parameters for this model. <br /></td></tr>
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<tr class="inherit_header pub_methods_classcalico_1_1sensors_1_1AccelerometerModel"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcalico_1_1sensors_1_1AccelerometerModel')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcalico_1_1sensors_1_1AccelerometerModel.html">calico::sensors::AccelerometerModel</a></td></tr>
<tr class="memitem:a27f7b3a21646154d53656609acfad689 inherit pub_methods_classcalico_1_1sensors_1_1AccelerometerModel"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:a27f7b3a21646154d53656609acfad689 inherit pub_methods_classcalico_1_1sensors_1_1AccelerometerModel"><td class="memTemplItemLeft" align="right" valign="top">absl::StatusOr&lt; Eigen::Vector3&lt; T &gt; &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1AccelerometerModel.html#a27f7b3a21646154d53656609acfad689">Project</a> (const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector3&lt; T &gt; &amp;p_sensor_world_sensor) const</td></tr>
<tr class="separator:a27f7b3a21646154d53656609acfad689 inherit pub_methods_classcalico_1_1sensors_1_1AccelerometerModel"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4e7fd3000f2d4a4748e169deb4a8f5e inherit pub_methods_classcalico_1_1sensors_1_1AccelerometerModel"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:af4e7fd3000f2d4a4748e169deb4a8f5e inherit pub_methods_classcalico_1_1sensors_1_1AccelerometerModel"><td class="memTemplItemLeft" align="right" valign="top">absl::StatusOr&lt; Eigen::Vector3&lt; T &gt; &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1AccelerometerModel.html#af4e7fd3000f2d4a4748e169deb4a8f5e">Unproject</a> (const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector3&lt; T &gt; &amp;measurement) const</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:ad67fe62b6fce2960f1bd5b52d2cc5a32"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:ad67fe62b6fce2960f1bd5b52d2cc5a32"><td class="memTemplItemLeft" align="right" valign="top">static absl::StatusOr&lt; Eigen::Vector3&lt; T &gt; &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel.html#ad67fe62b6fce2960f1bd5b52d2cc5a32">Project</a> (const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector3&lt; T &gt; &amp;p_sensor_world_sensor)</td></tr>
<tr class="separator:ad67fe62b6fce2960f1bd5b52d2cc5a32"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad45a32abd92a9b477496cf628df98da8"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:ad45a32abd92a9b477496cf628df98da8"><td class="memTemplItemLeft" align="right" valign="top">static absl::StatusOr&lt; Eigen::Vector3&lt; T &gt; &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel.html#ad45a32abd92a9b477496cf628df98da8">Unproject</a> (const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector3&lt; T &gt; &amp;measurement)</td></tr>
<tr class="separator:ad45a32abd92a9b477496cf628df98da8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_static_methods_classcalico_1_1sensors_1_1AccelerometerModel"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classcalico_1_1sensors_1_1AccelerometerModel')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classcalico_1_1sensors_1_1AccelerometerModel.html">calico::sensors::AccelerometerModel</a></td></tr>
<tr class="memitem:a6086358a97bd91992b92768cb232032e inherit pub_static_methods_classcalico_1_1sensors_1_1AccelerometerModel"><td class="memItemLeft" align="right" valign="top">static std::unique_ptr&lt; <a class="el" href="classcalico_1_1sensors_1_1AccelerometerModel.html">AccelerometerModel</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcalico_1_1sensors_1_1AccelerometerModel.html#a6086358a97bd91992b92768cb232032e">Create</a> (<a class="el" href="namespacecalico_1_1sensors.html#a911841171d662dc3e4bf4b39463a4c42">AccelerometerIntrinsicsModel</a> accelerometer_model)</td></tr>
<tr class="separator:a6086358a97bd91992b92768cb232032e inherit pub_static_methods_classcalico_1_1sensors_1_1AccelerometerModel"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr class="memitem:ab43541a64dad7e14bdf906b2a39ef673"><td class="memItemLeft" align="right" valign="top"><a id="ab43541a64dad7e14bdf906b2a39ef673"></a>
static constexpr int&#160;</td><td class="memItemRight" valign="bottom"><b>kNumberOfParameters</b> = 4</td></tr>
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<tr class="memitem:ae88b721091d80381789f261b612cda81"><td class="memItemLeft" align="right" valign="top">static constexpr <a class="el" href="namespacecalico_1_1sensors.html#a911841171d662dc3e4bf4b39463a4c42">AccelerometerIntrinsicsModel</a>&#160;</td><td class="memItemRight" valign="bottom"><b>kModelType</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>4-parameter scale + bias intrinsics model. Parameter order: \([s, b_x, b_y, b_z]\) </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="ad67fe62b6fce2960f1bd5b52d2cc5a32"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad67fe62b6fce2960f1bd5b52d2cc5a32">&#9670;&nbsp;</a></span>Project()</h2>

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template&lt;typename T &gt; </div>
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          <td class="memname">static absl::StatusOr&lt;Eigen::Vector3&lt;T&gt; &gt; calico::sensors::AccelerometerScaleAndBiasModel::Project </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorX&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>intrinsics</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>p_sensor_world_sensor</em>&#160;</td>
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          <td>)</td>
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<p>Returns measurement \(\mathbf{f}\), a 3-D vector such that </p><p class="formulaDsp">
\[ \mathbf{f} = s\mathbf{p}^s_{ws} + \left[\begin{matrix}b_x\\b_y\\b_z\end{matrix}\right] \]
</p>
 
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<a id="ad45a32abd92a9b477496cf628df98da8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad45a32abd92a9b477496cf628df98da8">&#9670;&nbsp;</a></span>Unproject()</h2>

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          <td class="memname">static absl::StatusOr&lt;Eigen::Vector3&lt;T&gt; &gt; calico::sensors::AccelerometerScaleAndBiasModel::Unproject </td>
          <td>(</td>
          <td class="paramtype">const Eigen::VectorX&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>intrinsics</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>measurement</em>&#160;</td>
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<p>Inverts the measurement model to obtain specific force as observed by the sensor. </p><p class="formulaDsp">
\[ \mathbf{p}^s_{ws} = \frac{1}{s}\left(\mathbf{f} - \left[\begin{matrix}b_x\\b_y\\b_z\end{matrix}\right]\right) \]
</p>
 
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<h2 class="groupheader">Member Data Documentation</h2>
<a id="ae88b721091d80381789f261b612cda81"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae88b721091d80381789f261b612cda81">&#9670;&nbsp;</a></span>kModelType</h2>

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          <td class="memname">constexpr <a class="el" href="namespacecalico_1_1sensors.html#a911841171d662dc3e4bf4b39463a4c42">AccelerometerIntrinsicsModel</a> calico::sensors::AccelerometerScaleAndBiasModel::kModelType</td>
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<b>Initial value:</b><div class="fragment"><div class="line">=</div>
<div class="line">      <a class="code" href="namespacecalico_1_1sensors.html#a911841171d662dc3e4bf4b39463a4c42a8fd5773547ffe792d7cddcc07f5260b5">AccelerometerIntrinsicsModel::kAccelerometerScaleAndBias</a></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html_a911841171d662dc3e4bf4b39463a4c42a8fd5773547ffe792d7cddcc07f5260b5"><div class="ttname"><a href="namespacecalico_1_1sensors.html#a911841171d662dc3e4bf4b39463a4c42a8fd5773547ffe792d7cddcc07f5260b5">calico::sensors::AccelerometerIntrinsicsModel::kAccelerometerScaleAndBias</a></div><div class="ttdeci">@ kAccelerometerScaleAndBias</div><div class="ttdoc">Isotropic scale with bias.</div></div>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>calico/sensors/<a class="el" href="accelerometer__models_8h_source.html">accelerometer_models.h</a></li>
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